{"title":"Autonomous Strapdown Attitude and Heading Reference System for a Small Agile UAV","authors":"A. Markov","doi":"10.23919/icins43215.2020.9133775","DOIUrl":null,"url":null,"abstract":"The paper presents the results of a Kalman filter-based autonomous attitude and heading reference system design for a small agile fixed-wing UAV. MEMS accelerometers and gyros, 3-axis magnetometer and a barometric altimeter are used to obtain orientation angles estimations. The proposed system comprises several new structural units: an accelerometers preprocessor, a maneuver analyzer, a vertical estimation tract and a magnetometer continuous calibration tract, which reduces estimation errors of orientation angles. The system precision is experimentally verified and amounts to 0.3 degrees for roll and pitch angles and 1.5 degrees for yaw angle.","PeriodicalId":127936,"journal":{"name":"2020 27th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"12 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2020-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2020 27th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.23919/icins43215.2020.9133775","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 1
Abstract
The paper presents the results of a Kalman filter-based autonomous attitude and heading reference system design for a small agile fixed-wing UAV. MEMS accelerometers and gyros, 3-axis magnetometer and a barometric altimeter are used to obtain orientation angles estimations. The proposed system comprises several new structural units: an accelerometers preprocessor, a maneuver analyzer, a vertical estimation tract and a magnetometer continuous calibration tract, which reduces estimation errors of orientation angles. The system precision is experimentally verified and amounts to 0.3 degrees for roll and pitch angles and 1.5 degrees for yaw angle.
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